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Datasets:
PengYu-Team
/
S3E

Tasks:
Robotics
Modalities:
Text
Formats:
text
Size:
100K - 1M
Libraries:
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License:
Dataset card Viewer Files Community
1
DapengFeng commited on
Commit
5fbbb5d
•
1 Parent(s): 8734ef6

update: 2024-08-01

Browse files
Files changed (6) hide show
  1. S3Ev1/Calibration/alpha.yaml +125 -0
  2. S3Ev1/Calibration/bob.yaml +125 -0
  3. S3Ev1/Calibration/carol.yaml +125 -0
  4. S3Ev2/Calibration/alpha.yaml +125 -0
  5. S3Ev2/Calibration/bob.yaml +125 -0
  6. S3Ev2/Calibration/carol.yaml +125 -0
S3Ev1/Calibration/alpha.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Left Camera Parameters.
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV)
9
+ Camera.fx: 1172.771733138536
10
+ Camera.fy: 1172.364005984343
11
+ Camera.cx: 617.941545715258
12
+ Camera.cy: 507.672727295385
13
+
14
+ Camera.k1: -0.052628389768906
15
+ Camera.k2: 0.100832689624109
16
+ Camera.p1: 0.000395112517197
17
+ Camera.p2: 0.000362060505238
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 422.197823929873
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0451440924866223e-02
32
+ IMU.NoiseAcc: 1.0919628856399554e-02
33
+ IMU.GyroWalk: 8.1770009351257180e-05
34
+ IMU.AccWalk: 2.1851827629113259e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [ 0.00671209, -0.00971447, 0.99993029, 0.14118513,
43
+ -0.99993865, -0.00887635, 0.00662591, 0.1552482,
44
+ 0.00881136, -0.99991342, -0.00977345, 0.01917531,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.052628389768906, 0.100832689624109, 0.000395112517197, 0.000362060505238, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1172.771733138536, 0.0, 617.941545715258,
62
+ 0.0, 1172.364005984343, 507.672727295385,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
82
+ data: [1172.771733138536, 0.0, 617.941545715258, 0.0,
83
+ 0.0, 1172.364005984343, 507.672727295385, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.052817970234810, 0.100073648217903, 0.000987319404990, 0.000078198322045, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1172.549603999100, 0.0, 617.477465353483,
98
+ 0.0, 1173.241586185178, 516.335518983269,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999994846143267, 0.003159631643868, -0.000569574209205,
105
+ -0.003162491376236, 0.999982035625659, -0.005091863534975,
106
+ 0.000553475564009, 0.005093638565765, 0.999986874169337]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1172.549603999100, 0.0, 617.477465353483, -361.1747016345565 ,
112
+ 0.0, 1173.241586185178, 516.335518983269, -5.2678945955122,
113
+ 0.0, 0.0, 1.0, -1.5931129591554]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.016401767702498, -0.010112948899873, 0.999814337905184, 0.128861294507233,
123
+ -0.999053252579189, -0.040462795913874, 0.015980008065579, 0.196875730840019,
124
+ 0.040293678501436, -0.999129866639658, -0.010767035870758, -0.126632260291528,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]
S3Ev1/Calibration/bob.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Left Camera Parameters.
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
9
+ Camera.fx: 1176.371989001733
10
+ Camera.fy: 1176.092984580754
11
+ Camera.cx: 621.676298301324
12
+ Camera.cy: 508.182115727477
13
+
14
+ Camera.k1: -0.052418753922603
15
+ Camera.k2: 0.104682361259496
16
+ Camera.p1: 0.000650517607061
17
+ Camera.p2: 0.000103793518711
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 423.4939160406239
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0084886221461694e-02
32
+ IMU.NoiseAcc: 1.0557715622632996e-02
33
+ IMU.GyroWalk: 9.8778648600726277e-05
34
+ IMU.AccWalk: 2.3084619195565281e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [0.0004156, -0.01277515, 0.99991831, 0.15076999,
43
+ -0.99999158, -0.00408635, 0.00036342, 0.1531545,
44
+ 0.00408138, -0.99991004, -0.01277674, 0.01004714,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.052418753922603, 0.104682361259496, 0.000650517607061, 0.000103793518711, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1176.371989001733, 0.0, 621.676298301324,
62
+ 0.0, 1176.092984580754, 508.182115727477,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
82
+ data: [1176.371989001733, 0.0, 621.676298301324, 0.0,
83
+ 0.0, 1176.092984580754, 508.182115727477, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.053314338222019, 0.099513356190201, -0.000114531609168, 0.001057111311330, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1170.903035724522, 0.0, 602.239017335193,
98
+ 0.0, 1170.731039292330, 505.701781863552,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999988904147781, 0.002977057860333, -0.003650850286635,
105
+ -0.002963513067231, 0.999988727228776, 0.003709852513600,
106
+ 0.003661853577021, -0.003698992007094, 0.999986454051510]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1170.903035724522, 0.0, 602.239017335193, -364.7958668586873,
112
+ 0.0, 1170.731039292330, 505.701781863552, 1.3954592304343,
113
+ 0.0, 0.0, 1.0, -12.6923711243586]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.017870010543876, -0.017600720528060, 0.999685389190047, 0.132943148638482,
123
+ -0.999728769020931, -0.015249506692405, 0.017602299211548, 0.201060820335298,
124
+ 0.014934895883679, -0.999728796815682, -0.017868455512781, -0.083131958281528,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]
S3Ev1/Calibration/carol.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Camera Parameters. Adjust them!
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
9
+ Camera.fx: 1176.269294800212
10
+ Camera.fy: 1176.433529657170
11
+ Camera.cx: 604.755275885255
12
+ Camera.cy: 518.745152044285
13
+
14
+ Camera.k1: -0.050611950529281
15
+ Camera.k2: 0.097947651917225
16
+ Camera.p1: -0.000419283069591
17
+ Camera.p2: -0.000256740077382
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 423.4569461280763
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0216647894856925e-02
32
+ IMU.NoiseAcc: 1.1692699862662088e-02
33
+ IMU.GyroWalk: 8.4514305618965801e-05
34
+ IMU.AccWalk: 2.0413058951725431e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [0.00464162, -0.00460674, 0.99997862, 0.12607916,
43
+ -0.99998633, 0.00238464, 0.00465265, 0.15840427,
44
+ -0.00240602, -0.99998655, -0.00459561, 0.03420431,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.050611950529281,0.097947651917225, -0.000419283069591, -0.000256740077382, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1176.269294800212, 0.0, 604.755275885255,
62
+ 0.0, 1176.433529657170, 518.745152044285,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
82
+ data: [1176.269294800212, 0.0, 604.755275885255, 0.0,
83
+ 0.0, 1176.433529657170, 518.745152044285, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.050529645625590,0.100118794704043, 0.000151706619184, 0.000159873014222, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1175.693639535029, 0.0, 623.245979164071,
98
+ 0.0, 1175.840447155871, 509.547575123268,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999989460071177, -0.003980443093461, -0.002288191280272,
105
+ 0.003974940022537, 0.999989208997031, -0.002404525173381,
106
+ 0.002297737664012, 0.002395404406757, 0.999994491204504]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1175.693639535029, 0.0, 623.245979164071, -361.0218672707261,
112
+ 0.0, 1175.840447155871, 509.547575123268, -1.0402438315106,
113
+ 0.0, 0.0, 1.0, 4.6677007688895]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.024713433215212, 0.012207384934017, 0.999620040801399, 0.157411762651960,
123
+ -0.999501495500661, -0.019349870412999, 0.024946803541596, 0.162961503982182,
124
+ 0.019647053485450, -0.999738246876688, 0.011723097767528, -0.169579219781922,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]
S3Ev2/Calibration/alpha.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Left Camera Parameters.
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV)
9
+ Camera.fx: 1172.771733138536
10
+ Camera.fy: 1172.364005984343
11
+ Camera.cx: 617.941545715258
12
+ Camera.cy: 507.672727295385
13
+
14
+ Camera.k1: -0.052628389768906
15
+ Camera.k2: 0.100832689624109
16
+ Camera.p1: 0.000395112517197
17
+ Camera.p2: 0.000362060505238
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 422.197823929873
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0451440924866223e-02
32
+ IMU.NoiseAcc: 1.0919628856399554e-02
33
+ IMU.GyroWalk: 8.1770009351257180e-05
34
+ IMU.AccWalk: 2.1851827629113259e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [ 0.00671209, -0.00971447, 0.99993029, 0.14118513,
43
+ -0.99993865, -0.00887635, 0.00662591, 0.1552482,
44
+ 0.00881136, -0.99991342, -0.00977345, 0.01917531,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.052628389768906, 0.100832689624109, 0.000395112517197, 0.000362060505238, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1172.771733138536, 0.0, 617.941545715258,
62
+ 0.0, 1172.364005984343, 507.672727295385,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
82
+ data: [1172.771733138536, 0.0, 617.941545715258, 0.0,
83
+ 0.0, 1172.364005984343, 507.672727295385, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.052817970234810, 0.100073648217903, 0.000987319404990, 0.000078198322045, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1172.549603999100, 0.0, 617.477465353483,
98
+ 0.0, 1173.241586185178, 516.335518983269,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999994846143267, 0.003159631643868, -0.000569574209205,
105
+ -0.003162491376236, 0.999982035625659, -0.005091863534975,
106
+ 0.000553475564009, 0.005093638565765, 0.999986874169337]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1172.549603999100, 0.0, 617.477465353483, -361.1747016345565 ,
112
+ 0.0, 1173.241586185178, 516.335518983269, -5.2678945955122,
113
+ 0.0, 0.0, 1.0, -1.5931129591554]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.016401767702498, -0.010112948899873, 0.999814337905184, 0.128861294507233,
123
+ -0.999053252579189, -0.040462795913874, 0.015980008065579, 0.196875730840019,
124
+ 0.040293678501436, -0.999129866639658, -0.010767035870758, -0.126632260291528,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]
S3Ev2/Calibration/bob.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Left Camera Parameters.
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
9
+ Camera.fx: 1176.371989001733
10
+ Camera.fy: 1176.092984580754
11
+ Camera.cx: 621.676298301324
12
+ Camera.cy: 508.182115727477
13
+
14
+ Camera.k1: -0.052418753922603
15
+ Camera.k2: 0.104682361259496
16
+ Camera.p1: 0.000650517607061
17
+ Camera.p2: 0.000103793518711
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 423.4939160406239
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0084886221461694e-02
32
+ IMU.NoiseAcc: 1.0557715622632996e-02
33
+ IMU.GyroWalk: 9.8778648600726277e-05
34
+ IMU.AccWalk: 2.3084619195565281e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [0.0004156, -0.01277515, 0.99991831, 0.15076999,
43
+ -0.99999158, -0.00408635, 0.00036342, 0.1531545,
44
+ 0.00408138, -0.99991004, -0.01277674, 0.01004714,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.052418753922603, 0.104682361259496, 0.000650517607061, 0.000103793518711, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1176.371989001733, 0.0, 621.676298301324,
62
+ 0.0, 1176.092984580754, 508.182115727477,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
82
+ data: [1176.371989001733, 0.0, 621.676298301324, 0.0,
83
+ 0.0, 1176.092984580754, 508.182115727477, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.053314338222019, 0.099513356190201, -0.000114531609168, 0.001057111311330, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1170.903035724522, 0.0, 602.239017335193,
98
+ 0.0, 1170.731039292330, 505.701781863552,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999988904147781, 0.002977057860333, -0.003650850286635,
105
+ -0.002963513067231, 0.999988727228776, 0.003709852513600,
106
+ 0.003661853577021, -0.003698992007094, 0.999986454051510]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1170.903035724522, 0.0, 602.239017335193, -364.7958668586873,
112
+ 0.0, 1170.731039292330, 505.701781863552, 1.3954592304343,
113
+ 0.0, 0.0, 1.0, -12.6923711243586]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.017870010543876, -0.017600720528060, 0.999685389190047, 0.132943148638482,
123
+ -0.999728769020931, -0.015249506692405, 0.017602299211548, 0.201060820335298,
124
+ 0.014934895883679, -0.999728796815682, -0.017868455512781, -0.083131958281528,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]
S3Ev2/Calibration/carol.yaml ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ %YAML:1.0
2
+
3
+ #--------------------------------------------------------------------------------------------
4
+ # Camera Parameters. Adjust them!
5
+ #--------------------------------------------------------------------------------------------
6
+ Camera.type: "PinHole"
7
+
8
+ # Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
9
+ Camera.fx: 1176.269294800212
10
+ Camera.fy: 1176.433529657170
11
+ Camera.cx: 604.755275885255
12
+ Camera.cy: 518.745152044285
13
+
14
+ Camera.k1: -0.050611950529281
15
+ Camera.k2: 0.097947651917225
16
+ Camera.p1: -0.000419283069591
17
+ Camera.p2: -0.000256740077382
18
+
19
+ Camera.width: 1224
20
+ Camera.height: 1024
21
+
22
+ # Camera frames per second
23
+ Camera.fps: 10.0
24
+
25
+ # stereo baseline times fx (unit: m x pixel)
26
+ Camera.bf: 423.4569461280763
27
+
28
+ #--------------------------------------------------------------------------------------------
29
+ # IMU noise
30
+ #--------------------------------------------------------------------------------------------
31
+ IMU.NoiseGyro: 1.0216647894856925e-02
32
+ IMU.NoiseAcc: 1.1692699862662088e-02
33
+ IMU.GyroWalk: 8.4514305618965801e-05
34
+ IMU.AccWalk: 2.0413058951725431e-04
35
+ IMU.Frequency: 100
36
+
37
+ # Transformation from left camera to imu
38
+ Tic: !!opencv-matrix
39
+ rows: 4
40
+ cols: 4
41
+ dt: d
42
+ data: [0.00464162, -0.00460674, 0.99997862, 0.12607916,
43
+ -0.99998633, 0.00238464, 0.00465265, 0.15840427,
44
+ -0.00240602, -0.99998655, -0.00459561, 0.03420431,
45
+ 0.0, 0.0, 0.0, 1.0]
46
+
47
+ #--------------------------------------------------------------------------------------------
48
+ # Stereo Rectification. Only if you need to pre-rectify the images.
49
+ #--------------------------------------------------------------------------------------------
50
+ LEFT.height: 1024
51
+ LEFT.width: 1224
52
+ LEFT.D: !!opencv-matrix
53
+ rows: 1
54
+ cols: 5
55
+ dt: d
56
+ data: [-0.050611950529281,0.097947651917225, -0.000419283069591, -0.000256740077382, 0.0]
57
+ LEFT.K: !!opencv-matrix
58
+ rows: 3
59
+ cols: 3
60
+ dt: d
61
+ data: [1176.269294800212, 0.0, 604.755275885255,
62
+ 0.0, 1176.433529657170, 518.745152044285,
63
+ 0.0, 0.0, 1.0]
64
+ LEFT.R: !!opencv-matrix
65
+ rows: 3
66
+ cols: 3
67
+ dt: d
68
+ data: [1.0, 0.0, 0.0,
69
+ 0.0, 1.0, 0.0,
70
+ 0.0, 0.0, 1.0]
71
+ LEFT.Rf: !!opencv-matrix
72
+ rows: 3
73
+ cols: 3
74
+ dt: d
75
+ data: [1.0, 0.0, 0.0,
76
+ 0.0, 1.0, 0.0,
77
+ 0.0, 0.0, 1.0]
78
+ LEFT.P: !!opencv-matrix
79
+ rows: 3
80
+ cols: 4
81
+ dt: d
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+ data: [1176.269294800212, 0.0, 604.755275885255, 0.0,
83
+ 0.0, 1176.433529657170, 518.745152044285, 0.0,
84
+ 0.0, 0.0, 1.0, 0.0]
85
+
86
+ RIGHT.height: 1024
87
+ RIGHT.width: 1224
88
+ RIGHT.D: !!opencv-matrix
89
+ rows: 1
90
+ cols: 5
91
+ dt: d
92
+ data: [-0.050529645625590,0.100118794704043, 0.000151706619184, 0.000159873014222, 0.0]
93
+ RIGHT.K: !!opencv-matrix
94
+ rows: 3
95
+ cols: 3
96
+ dt: d
97
+ data: [1175.693639535029, 0.0, 623.245979164071,
98
+ 0.0, 1175.840447155871, 509.547575123268,
99
+ 0.0, 0.0, 1.0]
100
+ RIGHT.R: !!opencv-matrix
101
+ rows: 3
102
+ cols: 3
103
+ dt: d
104
+ data: [0.999989460071177, -0.003980443093461, -0.002288191280272,
105
+ 0.003974940022537, 0.999989208997031, -0.002404525173381,
106
+ 0.002297737664012, 0.002395404406757, 0.999994491204504]
107
+ RIGHT.P: !!opencv-matrix
108
+ rows: 3
109
+ cols: 4
110
+ dt: d
111
+ data: [1175.693639535029, 0.0, 623.245979164071, -361.0218672707261,
112
+ 0.0, 1175.840447155871, 509.547575123268, -1.0402438315106,
113
+ 0.0, 0.0, 1.0, 4.6677007688895]
114
+
115
+ #--------------------------------------------------------------------------------------------
116
+ # Transformation from left camera to lidar
117
+ #--------------------------------------------------------------------------------------------
118
+ Tlc: !!opencv-matrix
119
+ rows: 4
120
+ cols: 4
121
+ dt: d
122
+ data: [0.024713433215212, 0.012207384934017, 0.999620040801399, 0.157411762651960,
123
+ -0.999501495500661, -0.019349870412999, 0.024946803541596, 0.162961503982182,
124
+ 0.019647053485450, -0.999738246876688, 0.011723097767528, -0.169579219781922,
125
+ 0.0, 0.0, 0.0, 1.000000000000000]